EKF-based 3D SLAM for Structured Environment Reconstruction

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Navigating and exploring the surfaces of bodies of water allow swimming robots to perform a range of measurements while efficiently communicating and harvesting energy from the Sun. Such environments are often highly unstructured and cluttered with plant m ...

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

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Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

The rise of robotic body augmentation brings forth new developments that will transform robotics, human-machine interaction, and wearable electronics. Extra robotic limbs, although building upon restorative technologies, bring their own set of challenges i ...

Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulatio ...

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where the collaborative efforts of "simple" individuals can lead to the emergence of complex dynamics. The reliance of each organism on the collective is so great t ...

This article summarizes the recent advancements in the design, fabrication, and control of microrobotic devices for the diagnosis and treatment of brain disorders. With a focus on diverse actuation methods, we discuss how advancements in materials science ...

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

Learning manipulation from demonstration is a key way for humans to teach complex tasks. However, this domain mainly focuses on kinetic teaching, and does not consider imitation of interaction forces which is essential for more contact rich tasks. We propo ...

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

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Multimodal unmanned aerial vehicles (UAVs) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating enve ...

The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

EKF-based 3D SLAM for Structured Environment Reconstruction

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Highly agile flat swimming robot

Hitting with Different Joints of a Robotic Manipulator

Online Multicontact Receding Horizon Planning via Value Function Approximation

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Robot Learning using Tensor Networks

Investigating neural resource allocation in the sensorimotor control of extra limbs

Quantifying the biomimicry gap in biohybrid robot-fish pairs

A Biohybrid Superorganism - Investigating honeybees' collective behaviors via interactive robotics

Small-scale robotic devices for medical interventions in the brain

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Learning Motion Reconstruction from Demonstration via Multi-Modal Soft Tactile Sensing

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Deep Architectural Form

Avian-Inspired Claws Enable Robot Perching or Walking

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding